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Executors of Paul Walker's estate have launched legal action against another friend of the late actor for allegedly taking cars from his collection.

The Furious 7 star died in a fiery crash in November, 2013 with business partner Roger Rodas, and his father Paul Walker III, acting on behalf of the estate, is currently embroiled in a legal battle with Rodas' relatives over his son's 30-strong car collection.

He believes Rodas' estate sold off some of the luxury vehicles belonging to Walker and is seeking compensation.

Walker III has now launched a new legal battle by filing a lawsuit against his son's friend Richard Taylor at Los Angeles Superior Court on Thursday (11Jun15).

According to the suit, several pals of Taylor allegedly took a number of cars from Walker's storage unit within 24 hours of the actor's death and have concealed their new location.

Walker III claims Taylor, who was put in charge of the collection's ownership records and registration certificates, left a number of automobiles off the inventory for his own benefit. Seven cars are reportedly missing.

The estate is suing Taylor for compensatory damages, the return of the vehicles and their certificates, or the equivalent value of the cars.